Note : Les descriptions sont présentées dans la langue officielle dans laquelle elles ont été soumises.
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SURGICAL ROBOTIC CART IMMOBILIZER
CROSS REFERENCE TO RELATED APPLICATIONS
[0001] This application claims the benefit of and priority to each of
U.S. Provisional
Patent Application Serial No. 62/131,558, filed March 11, 2015, the entire
content of each of
which being hereby incorporated by reference herein.
BACKGROUND
[0002] Surgical robotic systems are used in minimally invasive medical
procedures
because of their increased accuracy and expediency. In these surgical robotic
systems, a robot
arm supports a surgical instrument having an end effector mounted thereto by a
wrist assembly.
In operation, the robot arm inserts the surgical instrument into a small
incision via a surgical
portal or a natural orifice of a patient to position the end effector at a
work site within a patient's
body.
[0003] Most of the surgical robotic systems in the market are heavy and
stationary
requiring a pallet jack to be relocated. In some of the more modern surgical
robotic systems, the
robot arm is supported on a movable surgical robotic cart assembly having a
base portion with a
set of casters. This is beneficial because the surgical robotic systems can be
moved between
various rooms as needed.
[0004] However, minimally invasive medical procedures require a high
amount of
accuracy, precision, and speed, and, therefore, need to be immobilized before
operation.
Accordingly, there is a need to immobilize a surgical robotic cart assembly.
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SUMMARY
[0005] The present disclosure is directed to a surgical robotic cart
immobilizer for mobile
surgical robotic systems to stabilize a surgical robotic system before
operation.
[0006] In accordance with an embodiment of the present disclosure, a
surgical robotic
cart assembly includes a vertical column having a first end and a second end.
The first end of the
vertical column is configured to support a robotic arm thereon. The surgical
robotic cart
assembly also includes a base portion secured to the second end of the
vertical column. At least
three casters are attached to the base portion and adapted to allow the
surgical robotic assembly
to move. Attached to the base portion is an immobilization assembly having at
least two pistons
configured to move between an unlocked position and a locked position. When
the at least two
pistons are in the unlocked position the surgical robotic cart assembly is
mobile, and when the at
least two pistons are in the locked position and in contact with a floor on
which the cart assembly
is supported, the cart assembly is immobile.
[0007] The immobilization assembly may include a motor having a first
motor shaft and
a second motor shaft operatively coupled to the base portion, a first cam
shaft supporting a first
cam and a second cam shaft supporting a second cam. The first and second cam
shafts are
coupled to a respective one of the first and second motor shafts. The first
cam housing and
second cam housing each is attached to the base portion and is rotatably
coupled to a respective
one of the first and second cam shafts.
[0008] The first and second cams may be disposed within respective first
and second cam
housings. Each of the first and second cam housings may include a piston. Each
of the pistons
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has a spring disposed around its circumference and is configured to hold each
of the pistons in
the unlocked position.
[0009] Each of the first and second cams of the first and second cam
shafts may have a
lobe shape defining a minimum radius and a maximum radius that is greater than
the minimum
radius.
[0010] At least a portion the first and second cams may be configured to
engage a
respective piston and spring of the first and second cam housings. When the at
least one portion
of the first and second cams having the minimum radius engages the respective
piston and spring
of the first and second cam housings, the pistons are in the unlocked position
and the springs are
in a released and uncompressed position. When the at least one portion of the
first and second
cams having the maximum radius engages the respective pistons and springs of
the first and
second cam housings, the pistons are in the locked position and the springs
are in a compressed
position.
[0011] The immobilization assembly may further include a third cam shaft.
The third
cam shaft is rotatably coupled to a third cam housing attached to the base
portion and the third
cam housing includes a respective piston fixed to a respective spring. The
spring of the third cam
housing is disposed around a circumference of the piston of the third cam
housing and
configured to hold the piston thereof in an unlocked position. At least one of
the first or second
cam shafts is operatively coupled to a third cam shaft.
[0012] The third cam shaft may support a third cam having a lobe shape
defining a
minimum radius and a maximum radius greater than the minimum radius.
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[0013] At least a portion the third cam may be configured to engage the
piston and spring
of the third cam housing. When the at least one portion of third cam having
the minimum radius
engaes the piston and spring of the third cam housing, the piston is in the
unlocked position and
the spring is in a released and uncompressed position. When the at least one
portion of the third
cam having the maximum radius engages the piston and spring of the third cam
housing, the
respective piston is in the locked position and the respective spring is in a
compressed position.
[0014] A belt may operatively couple the third cam shaft to at least one
of the first or
second cam shafts.
[0015] A belt tensioner may be attached to the base portion and
configured to apply a
pressure to the belt to increase a tension thereof
[0016] In accordance with another embodiment of the present disclosure, a
surgical
robotic cart assembly includes a vertical column having a first end and a
second end. The first
end of the vertical column is configured to support a robotic arm thereon. The
surgical robotic
cart assembly also includes a base portion secured to the second end of the
vertical column. At
least three casters are coupled to the base portion and adapted to allow the
surgical robotic
assembly to move. An immobilization assembly is coupled to the base portion,
and includes at
least three pistons configured to move between an unlocked position and a
locked position.
When the at least three pistons are in the unlocked position the surgical
robotic cart assembly is
mobile. When the at least three pistons are in the locked position and in
contact with a floor on
which the cart assembly is supported, the cart assembly is immobile.
[0017] The immobilization assembly may further include a first cam shaft
supporting a
first cam, a second cam shaft supporting a second cam, a third cam shaft
supporting a third cam.
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The first, second, and third cam shafts are coupled to respective first,
second, and third motors.
The immobilization assembly may further include first, second, and third cam
housings rotatably
coupled to a respective one of the first, second, and third cam shafts. Each
of the first, second,
and third cam housings is attached to the base portion.
[0018] The first, second, and third cams may be disposed within a
respective first,
second, and third cam housing.
[0019] Each of the first, second, and third cam housings may include a
piston. Each
piston is coupled to a spring disposed around a circumference of the piston
and configured to
hold the piston in the unlocked position.
[0020] Each of the first, second, and third cams of the first, second,
and third cam shafts
may have a lobe shape defining a minimum radius and a maximum radius that is
greater than the
minimum radius.
[0021] At least a portion the first, second, and third cams may be
configured to engage a
respective piston and spring of the first, second, and third cam housings.
When the at least one
portion of the first, second, and third cams having the minimum radius engages
the respective
piston and spring of the first, second, and third cam housings, the pistons
are in the unlocked
position and the springs are in a released and uncompressed position. When the
at least one
portion of the first, second, and third cams having the maximum radius engages
the respective
pistons and springs of the first, second, and third cam housings, the pistons
are in the locked
position and the springs are in a compressed position.
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[0022] In accordance with another embodiment of the present disclosure, a
surgical
robotic cart assembly includes a vertical column having a first end and a
second end. The first
end of the vertical column is configured to support a robotic arm thereon. The
surgical robotic
cart assembly also includes a base portion secured to the second end of the
vertical column. At
least three casters having an immobilization assembly are attached to the base
portion. The
immobilization assembly for each caster includes a housing, a threaded shaft
having a first end
and a second end. The first end of the threaded shaft is threadingly engaged
with the housing.
The threaded shaft is configured to translate from an unlocked position to a
locked position. The
surgical robotic cart assembly is mobile when the threaded shaft is in the
unlocked position and
immobile when the threaded shaft is in the locked position.
[0023] The immobilization assembly may further include a wing nut having
a threaded
interior surface for translating the threaded shaft relative to the housing.
Rotating the wing nut
moves the threaded shaft between the unlocked position and the locked
position.
[0024] The immobilization assembly may further include a star knob having
a threaded
interior surface for translating the threaded shaft relative to the housing.
Rotating the star knob
moves the threaded shaft between the unlocked position and the locked
position.
[0025] Further details and aspects of exemplary embodiments of the
present disclosure
are described in more detail below with reference to the appended figures.
BRIEF DESCRIPTION OF THE DRAWINGS
[0026] The accompanying drawings, which are incorporated in and
constitute a part of
this specification, illustrate embodiments of the disclosure and, together
with a general
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description of the disclosure given above, and the detailed description of the
embodiment(s)
given below, serve to explain the principles of the disclosure, wherein:
[0027] FIG. 1 is a perspective view of a surgical robotic cart having an
immobilization
assembly in accordance with the present disclosure;
[0028] FIG. 2 is a plan, bottom view of the surgical robotic cart of FIG.
1;
[0029] FIG. 3 is an plan, front view of the surgical robotic cart of FIG.
1 illustrating
pistons thereof in a locked position;
[0030] FIG. 4 is an plan, front view of the surgical robotic cart of FIG.
1 illustrating
pistons thereof in an unlocked position;
[0031] FIG. 5A is a side cross-sectional view of the immobilization
assembly of FIGS. 1-
3, taken along section line 5A-5A of FIG. 3, illustrating a cam engaging a
piston to the locked
position;
[0032] FIG. 5B is a side cross-sectional view of the immobilization
assembly of FIGS. 1-
4, taken along section line 5B-5B of FIG. 4, illustrating the cam engaging the
piston to the
unlocked position;
[0033] FIG. 6 is a plan, bottom view of an alternative embodiment of the
surgical robotic
cart of FIG. 1;
[0034] FIG. 7 is a perspective view of an alternative embodiment of a
surgical robotic
cart having an immobilization assembly in accordance with the present
disclosure;
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[0035] FIG. 8 is an plan, front view of the surgical robotic cart of FIG.
7 illustrating one
piston in a locked position and another piston in an unlocked position; and
[0036] FIG. 9 is a side cross-sectional view of the immobilization
assembly of FIGS. 7
and 8, taken along section line 9-9 of FIG. 8, illustrating one piston,
disposed within a housing of
a caster, in the unlocked position.
DETAILED DESCRIPTION
[0037] Embodiments of the present disclosure are described in detail with
reference to
the drawings, in which like reference numerals designate identical or
corresponding elements in
each of the several views.
[0038] While surgical robotic systems are discussed below, only for
brevity the features
of the device disclosed herein will be directed towards surgical robotic
systems. Surgical robotic
systems use robotic arms having various gears, cams, pulleys, electric and
mechanical motors to
assist a surgeon in performing surgery and allows for remote operation (or
partial remote
operation) of the surgical instrumentation. Since these surgical robotic
systems incorporate a
large amount of hardware, they are typically heavy and stationary, requiring a
pallet jack to
move.
[0039] To address the immobility of surgical robotic systems, modern
surgical robotic
systems support the robotic arm on a surgical robotic cart assembly having a
set of casters. This
is beneficial because the surgical robotic systems can be relocated as needed
or desired.
However, mobile surgical robotic systems may not provide a requisite amount of
immobility
needed for a robotic surgical procedure. Therefore, a need exists to
immobilize a surgical robotic
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system while it is in operation and mobilize the surgical robotic system while
it is not in
operation.
[0040] With reference to FIG. 1, one exemplary embodiment of a surgical
robotic cart
assembly configured for use in accordance with the present disclosure is shown
generally as
reference numeral 100, although it is also envisioned that the aspects and
features of the present
disclosure be similarly incorporated into any suitable surgical robotic cart
assembly. Surgical
robotic cart assembly 100 generally includes a robotic arm 102, a vertical
column 104 having a
first end 104a and a second end 104b, and a base portion 106 supporting column
104. Robotic
arm 102 is attached to the first end 104a of vertical column 104 and base
portion 106 is attached
to the second end 104b of vertical column 104. Base portion 106 may form three
flanges 108,
however, base portion 106 may form more than three flanges or fewer than
three. Surgical
robotic cart assembly 100 further includes at least three casters 110 with
each caster being
attached to a respective flange 108 of base portion 106.
[0041] With reference to FIGS. 1-4, cart 100 includes an immobilization
assembly,
shown generally as reference numeral 200 is attached to base portion 106.
Immobilization
assembly 200 includes a motor 202 having a first motor shaft 204 and a second
motor shaft 206.
Each first and second motor shaft 204, 206 may be configured to rotate in the
same or opposite
directions. Additionally, the immobilization assembly 200 includes a first cam
housing 210 and
a second cam housing 220. Each of the first and second cam housings 210, 220
are attached to
the base portion 106.
[0042] Immobilization assembly 200 further includes a first cam shaft 212
and a second
cam shaft 222. Each of the first and second cam shafts 212, 222 are rotatably
attached to a
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respective first cam housing 210 and second cam housing 220. Each of the first
and second cam
shafts 212, 222 may be attached to the respective first and second cam housing
210, 220 by a
bearing or any other means permitting rotation of the first and second cam
shafts 212, 222. Each
of the first and second cam shafts 212, 222 support a respective first cam 214
and second cam
224. As seen in FIGS. 3 and 4, each first and second cam 214, 224 are disposed
within a
respective first and second cam housing 210, 220.
[0043] Each of the first and second cam shafts 212, 222 are respectively
coupled to first
and second motor shafts 204, 206. This may be achieved by using any type of
rigid or fixed
connection or coupling. Fixedly coupling first and second cam shafts 212, 222
to first and second
motor shaft 204, 206 permits the torque from motor 202 to translate or be
transmitted to the
respective first and second cams 214, 224 of first and second cam shafts 212,
222.
[0044] Referring now to FIGS. 3-5B, each first and second cam housing
210, 220
includes a piston 218, 228 and spring 216, 226 arrangement. Each spring 216,
226 is configured
to maintain each piston 218, 228 within its respective housing. In an
embodiment, each spring,
216, 226 is a helical or coil spring, but any other suitable spring may be
used. Each spring 216,
226 has a first end 216a, 226a and a second end 216b, 226b. The first end
216a, 226a of each
spring is attached to a respective first end 218a, 228a of each piston 218,
228. The second end
216b, 226b of each spring 216, 226 is seated against the inside of the
respective first and second
cam housings 210, 220. Each first and second spring 216, 226 is disposed
around a respective
one of first and second pistons 218, 228.
[0045] Each first and second cam 214, 224 defines a lobe or eccentric
shape where one
portion of the cam 214, 224 has a minimum radius "Rm,õ" and another portion of
the cam 214,
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224 has a maximum radius "Rmax." The radius of the cam 214, 224 is measured
from the center
of the cam shaft 212, 222.
[0046] In operation, when motor 202 is activated, it rotates first and
second motor shafts
204, 206. The rotational movement of first and second motor shafts 204, 206 is
translated to
rigidly or fixedly attached first and second cam shafts 212, 222. Since the
first and second cams
214, 224 are fixedly attached to first and second cam shafts 212, 222, first
and second cams 214,
224 simultaneously rotate with first and second cam shafts 212, 222.
[0047] When the portions of the first and second cams 214, 224 having the
minimum
radius "R.,õ" are engaging the respective first end 218', 228' of the first
and second pistons 218,
228, the first and second pistons 218, 228 are maintained in or retracted
within the respective
cam housings 210, 220 by the force of springs 216, 226. When first and second
cams 214, 224
are rotated such that the portions of the first and second cams 214, 224
having the maximum
radius "R' is engaging the respective first end 218', 228' of the first and
second pistons 218,
228 the torque transferred from motor 202 to first and second cams 214, 224
overcomes the
resistive force of the respective springs 216, 226, thereby compressing
springs 216, 226 and
urging pistons 218, 228 out of the respective cam housings 210, 220, and
extending pistons 218,
228 outwardly into a locked deployed or extended position. When the pistons
218, 228 are in the
locked position, pistons 215, 228 contact the floor and immobilize the
surgical robotic cart
assembly by lifting the casters 110 out of contact with the floor.
[0048] Referring back to FIG. 2, immobilization assembly 200 may further
include a
third cam housing 230 and third cam shaft 232. Identical to first and second
cam shafts 212,
222, third cam shaft 232 is rotatably attached to third cam housing 230 and
forms a third cam
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(not shown) housed within third cam housing 230. Third cam housing 230 may
also include a
piston and spring (not shown) similar to the piston and spring of the first
and second cam
housing.
[0049] However, third cam shaft 232 is rigidly attached to a first
sprocket 242, rather
than a motor. First sprocket 242 may include a groove that seats a belt 244.
Belt 244 is wrapped
around first sprocket 242 and a second sprocket 240 that may also include a
grove. Second
sprocket 240 is rigidly coupled to second cam shaft 222 and belt 244
operatively couples first
and second sprockets 242, 240. First and second sprockets 242, 240 may include
any means to
grippingly engage to belt 244. For example, first and second sprockets 242,
240 may define a
plurality of teeth formed around a circumference of each of first and second
sprockets 242, 240
adapted to interlock or mesh with a perforated belt. Belt 244 may be composed
of a rubber or
other appropriate material.
[0050] Also attached to base portion 106 of surgical robotic cart
assembly 100 is a belt
tensioner 246. Belt tensioner 246 may be disposed anywhere along belt 244.
Belt tensioner 246
is configured to apply a pressure to belt 244 to make sure that belt 244 is
securely fasted to first
and second sprockets 242, 240. Belt tensioner 246 is adjustable in order to
increase or decrease
the tension in belt 244.
[0051] In operation, activation of motor 202 results in rotation of
second cam shaft 222
and rigidly attached second sprocket 240. Since first and second sprockets
242, 240 are
operatively connected via belt 244, when second sprocket 240 rotates, first
sprocket 242 rotates.
The torque applied to first sprocket 242 causes rigidly attached third cam
shaft 232 to rotate
thereby simultaneously rotating third cam (not shown) disposed within third
cam housing 230.
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The rotation of the third cam causes third piston 238 of third cam housing 230
to move between
an unlocked, retracted position to a locked, extended position.
[0052] In use, when motor 202 is activated in a first mode of operation,
pistons 218, 228,
238 of the respective first, second, and third cam housings 210, 220, 230
simultaneously move
between an unlocked, retracted position and a locked, extended position.
Further in use, when
motor 202 is activated in a second mode of operation, pistons 218, 228, 238 of
the respective
first, second, and third cam housings 210, 220, 230 simultaneously move
between the locked,
extended position and the unlocked, retracted position.
[0053] It is envisioned that motor 202 may be coupled to a power source
that can be
controlled by an operating console that is on surgical robotic cart assembly
100. Adapting motor
202 to be controlled via the operating console, allows the operator to easily
control whether the
cart is mobile or immobile.
[0054] FIG. 6 shows an another exemplary embodiment of a surgical robotic
cart
assembly configured for use in accordance with the present disclosure having
an alternative
immobilization assembly generally identified by reference numeral 300.
Immobilization
assembly 300 is similar to immobilization assembly 200 except that each of the
first, second, and
third cam shafts 312, 322, 332 are coupled to a respective first, second, or
third motor 314, 324,
334.
[0055] Immobilization assembly 300 includes first, second, and third
motors 314, 324,
334. Each first, second, and third motor 314, 324, 334 is coupled to a
respective first, second,
and third cam shaft 312, 322, 332. Additionally, immobilization assembly 300
includes a first,
second, and third cam housing 310, 320, 330. Similar to immobilization
assembly 200, each of
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the first, second, and third cam shafts 312, 322, 332 form a respective first,
second, and third
cam, where each of the respective cams are disposed within a respective first,
second, and thrid
cam housing 310, 320, 330. Also, similar to immobilization assembly 200, each
first, second,
and third cam housings 310, 320, 330 of immobilization assembly 300 include a
spring and
piston that are configured to engage the respective first, second, and third
cams of the first,
second, and third cam shafts 312, 322, 332.
[0056] Each first, second, and third piston 318, 328, 338 are configured
to move
independently. It is beneficial to configure each first, second, and third
piston 318, 328, 338 to be
independently operated to level the robotic arm if the surgical robotic cart
assembly is on an
uneven surface or an incline. Further, moving only one of the pistons into the
locked position
allows the surgical robotic cart to pivot about the piston in the locked
position. This is beneficial
because it allows for proper orientation of the surgical robotic cart
assembly. The surgical
robotic cart assembly may further include a leveling mechanism (not shown).
The level may be
either a digital level, spirit level, or any other suitable mechanism.
[0057] Turning to FIG. 7, another exemplary embodiment of a surgical
robotic cart
assembly configured for use in accordance with the present disclosure is shown
generally
identified by reference numeral 400, although it is also envisioned that the
aspects and features
of the present disclosure be similarly incorporated into any suitable surgical
robotic cart
assembly. Surgical robotic cart assembly 400 generally includes a robotic arm
402, a vertical
column 404 having a first end 404a and a second end 404b and a base portion
406 supporting
column 404. Robotic arm 402 is attached to the first end 404a of vertical
column 404 and base
portion 406 is attached to the second end 404b of vertical column 404. Base
portion 406 may
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form three flanges 408, however, base portion 406 may form more than three
flanges or fewer
than three flanges. Surgical robotic cart assembly 400 further includes at
least three
immobilization assemblies generally shown as reference numeral 500, 600, 700.
Each
immobilization assembly 500, 600, 700 is attached to each of the flanges 408
of base portion
406.
[0058] With reference to FIGS. 7-9, in the interest of brevity,
immobilization assembly
500 will be discussed, however, immobilization assembly 500 is identical to
immobilization
assemblies 600 and 700. The following exemplary discussion of the operation of
immobilization
assembly 500 is the same or substantially similar for immobilization
assemblies 600 and 700.
[0059] With reference to FIGS. 8 and 9, immobilization assembly 500
includes a caster
510 pivotally attached to housing 520. Housing 520 is rotatably attached to
flange 408. This may
be achieved by using a swivel bearing 512, or any other appropriate means.
Housing 520 may be
cylindrical in shape defining a hollow core or center. Housing 520 further
includes at least one
window 530. Disposed within housing 520 is a threaded shaft 516 having a first
end 516a and a
second end 516b. Disposed on the second end 516b of the threaded shaft 516 is
a foot 518.
Rotatably coupled to housing 520 is a knob 514. Knob 514 is threadingly
engaged to threaded
shaft 516. Any type of knob including, but not limited to, a star knob or a
wing nut may be used.
[0060] With reference to FIG. 9, in use, rotating knob 514 (e.g.,
manually) in a first
direction translates threaded shaft 516 into an unlocked position where foot
518 is retracted into
housing 520. Further, rotating knob 514 in a second direction, opposite the
first direction,
translates threaded shaft 516 into a locked position where foot 518 is
extended outside housing
520 and is engaging the floor. In an embodiment, foot 518 is extended by an
amount sufficient
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such that immobilization assembly 500 may lift the caster 510, and in turn the
cart, from the
floor.
[0061] When each of the immobilization assemblies 500, 600, 700 are in
the locked
position, the surgical robotic cart assembly is immobile. Each immobilization
assembly 500, 600,
700 may be operated independently as to allow the surgical robotic cart
assembly to operate on
an uneven surface. Since each of the immobilization assemblies 500, 600, 700
may be
independently set to a locked or unlocked position, if one immobilization
assembly is in the
locked position while the other two immobilization assemblies are in the
unlocked position, the
surgical robotic cart assembly is able to pivot about the one locked
immobilization assembly.
Further, surgical robotic cart assembly 400 may include a digital level,
spirit level or any other
appropriate level.
[0062] While several embodiments of the disclosure have been shown in the
drawings, it
is not intended that the disclosure be limited thereto, as it is intended that
the disclosure be as
broad in scope as the art will allow and that the specification be read
likewise. Any combination
of the above embodiments is also envisioned and is within the scope of the
claimed invention.
Therefore, the above description should not be construed as limiting, but
merely as
exemplifications of particular embodiments. Those skilled in the art will
envision other
modifications within the scope and spirit of the claims appended hereto.
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